Master–Slave Control System for Virtual–Physical Interactions Using Hands

Among the existing technologies for hand protection, master–slave control technology has been extensively researched and applied within field of safety engineering to mitigate occurrence incidents. However, it identified through research that traditional no longer meet current production lifestyle needs, they have even begun pose new risks. To resolve risks exposed by control, this fuses hands with virtual reality technology, design a system based on is investigated. This study aims realize virtual–physical interactions using captures position, orientation, finger joint angles user’s in real time synchronizes motion slave interactive device hand. With amplitude limiting, jitter elimination, complementary filtering algorithm, original data collected designed glove are turned into Kalman-filtering-algorithm-based driving database, which drives synchronous interaction mechanical As experimental results, output roll, pitch, yaw were stable ranges −0.1° 0.1°, −0.15° 0.15°, respectively, met accuracy requirements system’s operation under different conditions. More importantly, these prove that, terms denoising, data-processing algorithm was relatively compatible hardware platform system. Based model, authors introduced concept an auxiliary research, put forward algorithmic process judgement condition grasp hand’s, solved model-penetrating problem while enhancing immersive experience during interactions. In experiment, dynamic test run shown effect, satisfactorily interactive.